gps_pvt 0.10.0 → 0.10.1

data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb

@@ -875,10 +875,10 @@ __RINEX_CLK_TEXT__
       expect(pvt.vdop).to be_within(1E-2).of(1.87)
       expect(pvt.tdop).to be_within(1E-2).of(1.08)
       expect(pvt.velocity.to_a).to eq([:e, :n, :u].collect{|k| pvt.velocity.send(k)})
-      expect(pvt.velocity.north).to be_within(1E-2).of(-0.86) # north
-      expect(pvt.velocity.east) .to be_within(1E-2).of(-1.10) # east
-      expect(pvt.velocity.down) .to be_within(1E-2).of(-0.22) # down
-      expect(pvt.receiver_error_rate).to be_within(1E-2).of(-1061.86)
+      expect(pvt.velocity.north).to be_within(1E-2).of(-0.68) # north
+      expect(pvt.velocity.east) .to be_within(1E-2).of(-0.90) # east
+      expect(pvt.velocity.down) .to be_within(1E-2).of(0.26) # down
+      expect(pvt.receiver_error_rate).to be_within(1E-2).of(-1062.14)
       expect(pvt.G.rows).to eq(6)
       expect(pvt.W.rows).to eq(6)
       expect(pvt.delta_r.rows).to eq(6)
@@ -942,9 +942,9 @@ __RINEX_CLK_TEXT__
         expect(t_arv).to be_a_kind_of(GPS::Time)
         expect(usr_pos).to be_a_kind_of(Coordinate::XYZ)
         expect(usr_vel).to be_a_kind_of(Coordinate::XYZ)
-        weight, range_c, range_r, rate_rel_neg, *los_neg = rel_prop
-        weight = 1
-        [weight, range_c, range_r, rate_rel_neg] + los_neg
+        weight_range, range_c, range_r, weight_rate, rate_rel_neg, *los_neg = rel_prop
+        weight_range = 1
+        [weight_range, range_c, range_r, weight_rate, rate_rel_neg] + los_neg
       }
       solver.hooks[:update_position_solution] = proc{|mat_G, mat_W, mat_delta_r, temp_pvt|
         expect(temp_pvt).to be_a_kind_of(GPS::PVT)

data/lib/gps_pvt/receiver/extension.rb

@@ -60,79 +60,6 @@ end
 
 module GPS
 
-# These ephemeris helper functions will be removed
-# when native functions are available in GPS.i
-class Ephemeris
-  URA_TABLE = [
-      2.40, 3.40, 4.85, 6.85, 9.65, 13.65, 24.00, 48.00,
-      96.00, 192.00, 384.00, 768.00, 1536.00, 3072.00, 6144.00]
-  def URA_index=(idx)
-    send(:URA=, (idx >= URA_TABLE.size) ? (URA_TABLE[-1] * 2) : (idx < 0 ? -1 : URA_TABLE[idx]))
-  end
-  def URA_index
-    ura = send(:URA)
-    (ura < 0) ? -1 : URA_TABLE.find_index{|v| ura <= v}
-  end
-  proc{
-    orig = instance_method(:fit_interval=)
-    define_method(:fit_interval=){|args|
-      args = case args
-      when Array
-        flag, iodc, sys = args
-        hr = case (sys ||= :GPS)
-        when :GPS, :gps
-          (flag == 0) ? 4 : case iodc 
-          when 240..247; 8
-          when 248..255, 496; 14
-          when 497..503; 26
-          when 504..510; 50
-          when 511, 752..756; 74
-          when 757..763; 98
-          when 764..767, 1088..1010; 122
-          when 1011..1020; 146
-          else; 6
-          end
-        when :QZSS, :qzss
-          raise unless flag == 0 # TODO how to treat fit_interval > 2 hrs
-          2
-        else; raise
-        end
-        hr * 60 * 60
-      else
-        args
-      end
-      orig.bind(self).call(args)
-    }
-  }.call
-end
-class Ephemeris_SBAS
-  URA_TABLE = [ # Table 2-3 in DO-229E
-      2.0, 2.8, 4.0, 5.7, 8.0, 11.3, 16.0, 32.0,
-      64.0, 128.0, 256.0, 512.0, 1024.0, 2048.0, 4096.0]
-  def URA_index=(idx)
-    send(:URA=, (idx >= URA_TABLE.size) ? (URA_TABLE[-1] * 2) : (idx < 0 ? -1 : URA_TABLE[idx]))
-  end
-  def URA_index
-    ura = send(:URA)
-    (ura < 0) ? -1 : URA_TABLE.find_index{|v| ura <= v}
-  end
-end
-class Ephemeris_GLONASS
-  F_T_TABLE = [ # Table 4.4 in ICD 5.1
-      1, 2, 2.5, 4, 5, 7, 10, 12, 14, 16, 32, 64, 128, 256, 512, 1024]
-  def F_T_index=(idx)
-    send(:F_T=, (idx >= F_T_TABLE.size) ? (F_T_TABLE[-1] * 2) : (idx < 0 ? -1 : F_T_TABLE[idx]))
-  end
-  def F_T_index
-    f_t = send(:F_T)
-    (f_t < 0) ? -1 : F_T_TABLE.find_index{|v| f_t <= v}
-  end
-  def NA
-    # based on TimeProperties::date2raw
-    self.day_of_year + [1, 367, 732, 1097][(self.year - 1996) % 4]
-  end
-end
-
 [
   Ionospheric_UTC_Parameters,
   Ephemeris, Ephemeris_SBAS, Ephemeris_GLONASS,

data/lib/gps_pvt/receiver.rb

@@ -38,20 +38,21 @@ class Receiver
         ] + (pvt.rel_ENU.to_a rescue [nil] * 3)
       } 
     ]] + [proc{
-      labels = [:g, :p, :h, :v, :t].collect{|k| "#{k}dop".to_sym}
+      labels = [:g, :p, :h, :v, :t].collect{|k| "#{k}dop".to_sym} \
+          + [:h, :v, :t].collect{|k| "#{k}sigma".to_sym}
       [
         labels,
         proc{|pvt|
-          next [nil] * 5 unless pvt.position_solved?
+          next [nil] * 8 unless pvt.position_solved?
           labels.collect{|k| pvt.send(k)}
         }
       ]
     }.call] + [[
-      [:v_north, :v_east, :v_down, :receiver_clock_error_dot_ms],
+      [:v_north, :v_east, :v_down, :receiver_clock_error_dot_ms, :vel_sigma],
       proc{|pvt|
         next [nil] * 4 unless pvt.velocity_solved?
         [:north, :east, :down].collect{|k| pvt.velocity.send(k)} \
-            + [pvt.receiver_error_rate] 
+            + [pvt.receiver_error_rate, pvt.vel_sigma] 
       }
     ]] + [
       [:used_satellites, proc{|pvt| pvt.used_satellites}],

data/lib/gps_pvt/rtcm3.rb

@@ -132,7 +132,7 @@ class RTCM3
         103 => 1,
         104 => 1,
         105 => 1,
-        106 => [2, proc{|v| [0, 30, 45, 60][v] * 60}], # [s]
+        106 => 2,
         107 => [12, proc{|v|
           hh, mm, ss = [v >> 7, (v & 0x7E) >> 1, (v & 0x1) > 0 ? 30 : 0]
           hh * 3600 + mm * 60 + ss # [sec]
@@ -314,7 +314,7 @@ class RTCM3
       def params
         # TODO WN is truncated to 0-1023
         res = Hash[*(KEY2IDX.collect{|k, i| [k, self[i][0]]}.flatten(1))]
-        res[:fit_interval] = [self[29][0], res[:iodc]]
+        res[:fit_interval] = (self[29][0] != 0)
         res
       end
     end
@@ -334,7 +334,7 @@ class RTCM3
         # TODO insufficient: :n => ?(String4); extra: :P3
         # TODO generate time with t_b, N_T, NA, N_4
         # TODO GPS.i is required to modify to generate EPhemeris_with_GPS_Time
-        k_i =  {:svid => 1, :freq_ch => 2, :P1 => 5, :t_k => 6, :B_n => 7, :P2 => 8, :t_b => 9,
+        k_i =  {:svid => 1, :freq_ch => 2, :P1_index => 5, :t_k => 6, :B_n => 7, :P2 => 8, :t_b => 9,
             :xn_dot => 10, :xn => 11, :xn_ddot => 12,
             :yn_dot => 13, :yn => 14, :yn_ddot => 15,
             :zn_dot => 16, :zn => 17, :zn_ddot => 18,
@@ -362,7 +362,7 @@ class RTCM3
       def params
         # TODO PRN = svid + 192, WN is truncated to 0-1023
         res = Hash[*(KEY2IDX.collect{|k, i| [k, self[i][0]]}.flatten(1))]
-        res[:fit_interval] = [self[29][0], res[:iodc], :QZSS]
+        res[:fit_interval] = (self[29][0] != 0)
         res
       end
     end

data/lib/gps_pvt/supl.rb

@@ -353,7 +353,7 @@ class SUPL_Client
           eph.WN -= 1
         end
         eph.iode = eph.iodc & 0xFF
-        eph.fit_interval = [eph_src[:ephemFitFlag], eph.iodc]
+        eph.fit_interval = (eph_src[:ephemFitFlag] != 0)
         eph
       }
     }
@@ -403,7 +403,7 @@ class SUPL_Client
     :zn => [:Z, Rational(1000, 1 << 11)], :zn_dot => [:Zdot, Rational(1000, 1 << 20)], :zn_ddot => [:Zdotdot, Rational(1000, 1 << 30)],
     :tau_n => [:Tau, Rational(1, 1 << 30)],
     :gamma_n => [:Gamma, Rational(1, 1 << 40)],
-    :M => :M, :P1 => [:P1, proc{|v| [0, 30, 45, 60][v] * 60}], :P2 => :P2, :E_n => :En,
+    :M => :M, :P1_index => :P1, :P2 => :P2, :E_n => :En,
   }.collect{|dst_k, (src_k, sf)|
     ["#{dst_k}=".to_sym, ["glo#{src_k}".to_sym, sf || 1]]
   }.flatten(1))]
@@ -480,7 +480,7 @@ class SUPL_Client
         elsif delta_sec < -GPS::Time::Seconds_week / 2 then
           eph.WN -= 1
         end
-        eph.fit_interval = [eph_src[:navFitFlag], eph.iodc, sys]
+        eph.fit_interval = (eph_src[:navFitFlag] != 0)
         eph
       }
     }

data/lib/gps_pvt/version.rb

@@ -1,7 +1,7 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.10.0"
+  VERSION = "0.10.1"
   
   def GPS_PVT.version_compare(a, b)
     Gem::Version::new(a) <=> Gem::Version::new(b)

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.10.0
+  version: 0.10.1
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2024-03-27 00:00:00.000000000 Z
+date: 2024-03-28 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rubyserial